/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "cordic.h"
#include "dac.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "my_def.h"
#include "Motor_Control_Fcns.h"
#include "Motor_Control_Init.h"
#include "My_Usart.h"
#include "i2c_as5600_dma.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
	STATE_ctl_struc_init();
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_DAC1_Init();
  MX_TIM1_Init();
  MX_USART1_UART_Init();
  MX_CORDIC_Init();
  MX_TIM8_Init();
  MX_I2C3_Init();
  /* USER CODE BEGIN 2 */

  HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED);
  HAL_ADC_Start_DMA(&hadc1,(uint32_t*)&AD_BUF,3);    //使用DMA传输ADC

  init_usart_send_dma();
  HAL_UART_Receive_DMA(&huart1, USART_RECV_BUF,10); // Enable DMA-UART RX
  HAL_UART_Transmit_DMA(&huart1, (uint8_t *)USART_SEND_BUF, 10);
  HAL_DAC_Start(&hdac1, DAC1_CHANNEL_1);
  HAL_DAC_Start(&hdac1, DAC1_CHANNEL_2);

  HAL_TIM_Base_Start(&htim8);
  HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);

//  __HAL_TIM_SetCompare(&htim8, TIM_CHANNEL_1, (5000));



  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  //Enable uart receive
	  HAL_UART_Receive_DMA(&huart1, USART_RECV_BUF,10);

	#ifdef	DEF_MPC_PARAM_UPDATE_FUNCTION
//	  	  DEF_MPC_PARAM_UPDATE_FUNCTION;
	#endif
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV6;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){
	static int Sys_Tick = 1;
	static char Init_Once_Flag = 0;

	//	LED1 = 1;	// View the time consume
		PBout(3) = 1;

	if(Init_Once_Flag==0){
		HAL_TIM_Base_Start(&htim1);
		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
		Init_Once_Flag = 1;
	}


	// Init once task, stop state DO NOT reset the flag!


	// System tick counter
	if (++Sys_Tick == 10001) Sys_Tick = 1;

	// Every Period task (10k)
	STATE_motor_control_state_machine(DEF_CTL_STATE);

	// 0.5 Second Task
	if(Sys_Tick==10000){
		LED0=~LED0;
	};

	// 100/20000 Second Task
	if(Sys_Tick%100==1){
		motor_usart_data_update();
	}

	//  Read Position Sensor AS5600
	as5600_dma_request();
//	LED1 = 0;	// View the time consumer
	PBout(3) = 0;
}



/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
